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Non-iterative Vision-based Interpolation of 3D Laser Scans
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-2953-1564
Department of Computer Science, University of Freiburg, Freiburg, Germany. (Department of Computer Science)
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2007 (English)In: Autonomos Agents and Robots / [ed] Mukhopadhyay, SC, Gupta, GS, Berlin/Heidelberg, Germany: Springer , 2007, Vol. 76, p. 83-90, article id 4399381Conference paper, Published paper (Other academic)
Abstract [en]

3D range sensors, particularly 3D laser range scanners, enjoy a rising popularity and are used nowadays for many different applications. The resolution 3D range sensors provide in the image plane is typically much lower than the resolution of a modern colour camera. In this chapter we focus on methods to derive a highresolution depth image from a low-resolution 3D range sensor and a colour image. The main idea is to use colour similarity as an indication of depth similarity, based on the observation that depth discontinuities in the scene often correspond to colour or brightness changes in the camera image. We present five interpolation methods and compare them with an independently proposed method based on Markov random fields. The proposed algorithms are non-iterative and include a parameter-free vision-based interpolation method. In contrast to previous work, we present ground truth evaluation with real world data and analyse both indoor and outdoor data.

Place, publisher, year, edition, pages
Berlin/Heidelberg, Germany: Springer , 2007. Vol. 76, p. 83-90, article id 4399381
Series
Studies in Computational Intelligence, ISSN 1860-949X ; 76
Keywords [en]
3D range sensor, laser range scanner, vision-based depth interpolation, 3D vision
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4259DOI: 10.1007/978-3-540-73424-6_10ISI: 000252076700010Scopus ID: 2-s2.0-34547965931ISBN: 978-3-540-73423-9 (print)OAI: oai:DiVA.org:oru-4259DiVA, id: diva2:138558
Conference
3rd International Conference on Autonomous Robots and Agents, Palmerston, New Zealand, Dec. 11-14, 2006
Available from: 2007-12-13 Created: 2007-12-13 Last updated: 2018-06-12Bibliographically approved

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Non-iterative Vision-based Interpolation of 3D Laser Scans(1190 kB)3 downloads
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Type fulltextMimetype application/pdf

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Andreasson, HenrikLilienthal, Achim J.

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